JPH08381B2 - Industrial robot system and control method thereof - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention controls a robot system composed of a plurality of robots having one or more axes by a single controller and operates all robots in synchronization. The present invention relates to an industrial robot system capable of performing.

[Conventional technology]

A conventional industrial robot is composed of one controller, one machine body, and one teaching controller that issues a command regarding teaching. When machining or transporting workpieces using multiple robots, it is of course necessary to use multiple controllers to process and transport the workpieces in synchronization with their mutual interlock signals. is there. The synchronization by this mutual interlock uses a method of detecting that the other party has reached a certain predetermined position using a limit switch etc., confirming that there is no interference even if he or she moves, and starting the operation. ing.

[Problems to be Solved by the Invention]

With this method, it is necessary to make sure that the other person is stopping at a predetermined position, or that there is no other person within the range to move from now on, and then, in order to operate, there is no waste of time other than the time required for the work itself. In addition to the waiting time, it was impossible to deliver the work while moving. That is, when handing over or receiving work from the other party,
Since the relative movement speeds of the hands cannot be controlled to zero, it is necessary to make the robots stand still before handing over the work. For this reason, the robot body is accelerated and decelerated more than necessary, shortening the mechanical life and wasting energy.

As described above, the conventional robot cannot efficiently operate a system including a plurality of robots.

A conventional robot program is composed of steps that represent the order of reproduction, step data that represents the physical position of the steps, the travel time to move between the steps, and some input / output signal processing performed at the steps. Therefore, the time to move between steps is an instruction time to move between two positions, and there is an error from the actual time to move. In addition, the sum of the instruction times of each of these steps should be the cycle time, but if you add the errors with errors in each step, the errors will be accumulated and the cycle time will have a large error. Became. Furthermore, in the conventional position control method, after confirming that the command position has been reached for each step, the waiting time is added to the cycle time for each step in order to command the command position data for the next step. The cycle time was unknown until I tried it. Even if these multiple robots are controlled by one controller,
With this conventional position control method, the cycle times of all robots cannot be made exactly the same. Therefore,
Even if the signal lines were not actually connected, the internal robot synchronization method became equivalent to the mutual interlock method.

A method of synchronously operating a plurality of robots with a single controller is disclosed in, for example, Japanese Patent Laid-Open No. 63-207578, in which operation control is performed at a predetermined sampling cycle, and in the operation control, the positional relationship between two robots is used. Alternatively, a method of calculating a position vector so as to keep the locus, and calculating the position vector from a function indicating the positional relationship of each robot at each sampling cycle of G (t1), G (t2), ... It is disclosed. However, JP-A-63-20
In the method of Japanese Patent No. 7578, only the motion control is performed so as to maintain the positional relationship or the loci of the plurality of robots, and the positional relationship or the loci of the plurality of robots necessary for the actual control of the plurality of robots are calculated. If a part that controls to keep it and a part that controls multiple robots to operate independently in each operation area are mixed in one operation program, be sure to perform synchronous operation. It was necessary to stop either robot at the beginning.
Therefore, when changing from a part that operates independently to a part that operates synchronously, it becomes equivalent to the mutual interlock system, and they do not synchronize without stopping each other's operations. In addition, the configuration of the present invention includes a plurality of robots arranged to perform one work in cooperation with each other, a) adding a predetermined increment value at fixed constant time intervals,
The system clock and the clock for each robot are set so that the predetermined saturation value is reached at the system cycle time and the addition is started again from zero. B) At the standby position until the robot starts the operation. A certain origin is set, and each position during operation of the robot is set corresponding to the clock value of this robot, and c) the system clock is added to the increment value determined for each basic time at system startup. An industrial robot system control method having each step of advancing and advancing by adding the clock of the robot with the same increment value as the system clock when each robot is enabled is not disclosed. There is no description that the effects of the present invention are exhibited.

An object of the present invention is to provide a control method for an industrial robot system that can operate constituent devices in synchronization without depending on the mutual interlock system. Another object of the present invention is to provide a control method for an industrial robot system that allows each constituent device to operate safely and smoothly in synchronization without waiting time.

Yet another object of the present invention is to provide a control method for an industrial robot system that allows a plurality of robots to operate in synchronization with one control device.

Still another object of the present invention is to provide an efficient industrial robot system that eliminates the dead time of the system by applying the control method according to the present invention.

(Means for Solving the Problem) The basic concept of the present invention is to set the system clock of the industrial robot system and the clock of each robot so as to count up at the same cycle time, and to set each robot at system startup. The clock is added in the same increment value as the system clock to advance. This means that each component of the industrial robot system is controlled with substantially the same clock.

[Work]

With the above configuration, according to the present invention, the problems of the conventional robot system using a plurality of robots,
In the present invention, the mutual interlock is removed, and the workpieces can be processed and transported without stopping the mutual operations, so that it is possible to realize an efficient robot system in which the dead time of the system is eliminated. became. In order to eliminate the mutual interlock, in the present invention, one control device is used, and a plurality of robots are operated by one control device while synchronizing with each other. The position can be managed in the controller,
External signals such as limit switches are no longer required when transferring workpieces.

Further, the present invention realizes an economical robot system in which the program forming method is changed, the cycle times of a plurality of robots are all controlled to be the same, and mutual interlock is completely unnecessary.

〔Example〕

Next, a first embodiment of the present invention will be described with reference to the drawings. In this embodiment, the industrial robot system of the first invention will be described as an example in which two robots (1, 2) deburr as shown in FIG. The robot (1) holds the work (3), and the robot 2 (2) deburrs the work (3) with the grinder (4). Each of the two robots (1, 2) is taught by associating a clock (not shown) with a position, and each of them operates as the clock increases.
It is supposed to be taught so that the work of deburring can be performed. FIG. 2 is a block diagram showing the configuration of the control unit (5) of the industrial robot system, that is, a system block diagram, including the control unit for the robot 3 (103) so that it can be shared with the description of the second invention of the present invention. Is written. FIGS. 3A to 3H are flowcharts showing the control flow of the control unit shown in FIG. The synchronous operation of the two robots (1, 2) will be described below. Each robot (1, 2) may be a conventional one having one or more joints, and is set under the operating conditions shown in Table 1,
In this system, the master is the robot (1) and is called upstream, and the robot 2 (2) is called downstream.

FIG. 2 and (2-A) are composed of a system control unit (A-1), a clock monitoring unit (A-2), a system clock counting unit (A-3), and a scheduled interrupt generation unit (A-4). To be done. The system control unit (A-1) executes the flow in FIG. 3 (a). When the system controller starts, the stop check routine (7), the abnormality check routine (8), and the clock monitoring routine (9) are started. After that, each routine repeats the process every time an interrupt is generated from the regular interrupt generating unit (A-4). Next, the system control unit (A-1) checks whether there is a starting road (a-1),
When there is a start request, first all devices (robot 1,2 (1,2))
Turn off the next cycle prohibition of (12), and set all devices to disable (13). Next, the system starting flag (SYS) is set to 1 (starting ON) (14), and the process for the starting request is ended. After that, it loops in block (a-2) until SYS becomes 0 (OFF during startup), and SYS
When 0 becomes 0, the process again waits for the activation request (a-1). Next, in the system clock counting section of FIG. 2 (A-3), the process is executed according to the flow of FIG. 3 (b). This system clock counting unit (A-3) is also a fixed-time interrupt generating unit (A-
The process is repeated every time an interrupt occurs (20) from 4).
When a regular interrupt occurs (20), it checks whether the system is starting up (b-1), and if it is ON during startup,
The system clock (CLK) is added by the increment value (ΔC) (21), and when the CLK reaches the saturation value, the CLK is returned to 0 (b).
-2, b-3). This ΔC is the preset periodic interrupt generation cycle (ST) and system cycle (CYT)
And the saturation value (A) of the clock, ΔC = A × ST / CYT. Next, the clock monitoring routine (9) described above will be described. The clock monitoring routine (9) is executed according to the flow of FIG. 3 (c), and the processing is executed every time a scheduled interrupt occurs (22). 3 (c) and (c-1) are processing units for enabling the robot 1 (1). First, it is checked whether or not the robot 1 upstream clock (system clock) matches the robot 1 origin clock (23). If they do not match, the process ends. Therefore, the robot 1 is not enabled. If they match, the robot 1 (1) is unconditionally disabled (24). Next, the next cycle prohibition of the robot 1 is OF
If it is F (25), if it is OFF, the robot 1 is enabled (26). Robot 2 (2) is also shown in Figure 3 (c).
The same process as (c-1) is performed (27). Thus, each robot can be enabled when the signal of the clock device on the upstream side of each robot matches the origin clock value of the robot device itself, and the robots can be synchronized from upstream to downstream. Next, the clock monitoring routine (9) checks whether the robot 1 clock coincides with the robot 1 origin clock in FIG. 3 (c) (c-2) (28), and determines whether the robot 1 is the origin. Set the origin flag of (30). The robot 2 (2) also performs the same processing as that shown in FIGS. 3 (c) and 3 (c-2) (31). The above is the clock monitoring routine (9).

Next, the stop check routine (7 in FIG. 3A) will be described. The stop check routine (7) is shown in FIG. 3 (d).
The process is executed every (32) every time a periodic interrupt occurs. The stop check routine (7) first checks whether or not there is a system stop request (33).
The next cycle prohibition of the most upstream device (corresponding to the robot 1 in this system) is turned on (34). Next, FIG. 3 (d) (d
In -1), when the robot 1 is disabled (35), processing for transmitting the stop of the robot 1 to the downstream is performed (36 to 40). Here, if the robot 1 is disabled and the next cycle prohibition of the robot 1 is ON, the next cycle prohibition downstream of the robot 1 is turned ON (36
~ 40). Also in the robot 2, FIG. 3 (d) (d-1)
Process as in (41). Next, the stop check routine (7) checks whether or not all the devices are disabled (42, 43), and if so, sets the starting flag (SYS) to 0 (starting OFF) and executes the processing. It ends (44). The above is the stop check routine (7).

Next, the abnormality check routine (FIG. 3 (a) 8) will be described. The abnormality check routine (8) is executed according to the flow shown in FIG. 3 (e), and the process (46) is executed every time a regular interrupt occurs. 3 (e) and (e-1) show the robot 1.
This is the abnormality processing unit of (1). First, the presence / absence of an abnormality in the robot 1 is checked, and if there is an abnormality, the robot 1 is disabled (the operation is prohibited and stopped on the spot). Next, it is checked whether there is an upstream of the robot 1, and if there is an upstream, the upstream robot checks whether it is in the Anichi range (48). If it is outside the Anichi range, the upstream is disabled. And stop. This safe range is the range of the corresponding clock as the range of the position where there is no danger of interfering with the stopped robot upstream or downstream if the upstream or downstream stops due to an abnormality even if the operation is continued. By teaching in advance,
Even if there is a stop instruction due to an upstream or downstream abnormality,
If the user's clock is within the range of Anichi, the operation can be continued as it is, the current operation cycle can be completed up to the origin, and if it is out of the range of Anichi, the user can also stop on the spot. This allows each robot to
Since the operation is continued and the operation is stopped at the origin, unnecessary in-situ stop can be avoided and the trouble of returning to the origin due to the intermediate stop can be reduced. By the above means, each robot is determined to stop or continue on the spot.

Next, the anomaly check routine checks if there are more upstreams (49), and if so, again (48).
Then, the same processing is executed. If there is no further upstream, then the next cycle inhibition is turned ON for all the robots upstream of the robot 1 (50).

As a result, if an abnormality occurs in the robot 1, the abnormality is sequentially propagated to the upstream thereof, and the robot 1 is disabled at the origin and stopped at the origin by stopping the spot or prohibiting the next cycle.

Next, the abnormality check routine checks whether or not the downstream is present from the robot 1, and if the downstream is present,
It is checked whether the downstream is within the range of Anichi (51), and if it is outside the range of Anichi, the downstream is disabled and stopped on the spot.
Perform the same process from 1). If it is within the safe range in (51), the downstream next cycle prohibition is turned on and the processing is ended. When an abnormality occurs in the robot 1 by this,
If an abnormality is propagated to the downstream side and it is outside the safe range, stop it on the spot, otherwise, continue to the origin by turning the next cycle prohibition ON. This next cycle prohibition ON is further propagated to the downstream side by the stop check routine (d-1), so that the robots downstream are sequentially stopped at the origin.

The above is the abnormality processing in the robot 1, and the same processing is performed in the robot 2 as well. The above is the abnormality check routine.

Next, the block of the robot 1 in FIG. 2 (2-B) will be described. The robot 1 block in FIG. 2 (2-B) is
Robot 1 control unit (B-1), robot 1 operating condition registration unit (B-2), robot 1 clock counting unit (B-
3), robot 1 valid / invalid selection unit (B-4), robot 1 command position calculation unit (B-5), robot 1 position data recording unit (B-6), robot 1 servo amplifier unit (B-)
7). The processing of each block will be described below. First, the robot 1 controller (B-1) executes the process according to the flow of FIG. 3 (g). Here, it is first checked whether the robot 1 is enabled (54), and if it is enabled, the following processing is performed. When the robot 1 is enabled, the command position of the robot 1 is calculated from the current value of the clock of the robot 1 (55), and the command position is output to the robot 1 servo amplifier section (B-7) (56). The above is the operation routine of the robot 1 control unit (B-1). Next, the operating condition registration unit (B-2) will be described. Here, for example, the origin clock of the robot 1 and various conditions required for operations such as upstream and downstream as shown in Table 1 are registered by operation from the teaching controller.

Next, the robot 1 clock counting unit (B-3) will be described. Robot 1 clock counting section (B-3)
Is executed by the flow of FIG. 3 (h). Every time a periodic interrupt occurs (57), it checks whether the robot 1 is enabled (58), and only when it is enabled, the value of the system clock (CLK) is set as it is in the robot 1 clock (CLK1). is there. This also applies to other robots. When all robots are enabled and operating, the clocks of all robots have the same value as the system clock, and they are all controlled by the same clock.

Next, the robot 1 valid / invalid selection section (B-4) will be described. In the robot 1 valid / invalid selection section (B-4),
At the start of operation, whether the robot 1 is valid (movable) or invalid (disabled) is selected by operating the teaching controller (6). By selecting valid, the contact point of the selected robot in FIG. 4 is closed, and the power from the servo amplifier unit is supplied to the motor. When the contact point is invalid, the contact point is open and power is not supplied. As a result, power is supplied to the robot selected as valid, so that manual operation or driving is possible, but if it is selected as invalid, power is not supplied, and the operator does not operate for teaching. There is no risk of accidents caused by unexpected robot movements while performing, and it is useful for energy saving because power is not supplied to unnecessary robots.

Next, the robot 1 command position calculation unit (B-5) will be described. In the robot 1 command position calculation unit (B-5),
The command position is calculated by the flow of the command value calculation routine shown in FIG. Here, it calculates the current value and the clock value C _S and the position of the robot in the current step S, the commanded position corresponding to the current clock value from the position of the clock value C _{S + 1} and the robot in the next step of the clock. The calculation method for each parameter is described below. Here, the clock increase interval t (seconds) ... Matches the periodic interrupt generation cycle Clock increment value ΔC (/ times or / t seconds) Current step S clock value C _S = Position P _S Next step S + 1 clock value C _{S + 1} 〃 Position P _{S + 1} .

Further, assuming that the processing time per loop of the robot 1 control unit operation routine in FIG. 3 (g) can be performed within a maximum of CT seconds, the command position calculation is defined to be performed once / CT second. However, it is assumed that there is a relation of t ≦ CT, and hereinafter, t = CT, that is, the clock increase interval and the command value calculation interval are equal.

The number of clock increments while moving from the current position to point P _{S + 1} is CLK1 with the clock of robot 1 The number of clock increments within the command value calculation interval is Therefore, the number of command value calculations during the movement from the current position to point P _{S + 1} is Next (66), the mth command value calculation formula while moving from the current position to point _{S + 1} is (N = CNT-m: m = 0,1,2, ... CNT) (68), and in the 0th command value calculation, n = CNT is calculated, and in the 1st time, the value obtained by subtracting -1 from n, that is, Calculated as CNT-1. After that, n is sequentially calculated by -1. P _n is output as a command value, and the command value reaches the point P _{S + 1} at n = 0 (71). Note that step S
The +1 clock C _{S + 1} and the CLK1 should match when n = 0, and this state is the correct state of the clock and position synchronization. If CLK1 is ahead of C _{S + 1} , the number of calculations CNT will decrease and attempt to restore synchronization. In the flowchart of FIG. 3 (f), when the process starts, after reading the above data, in step (67), n = CNT and step (6
8) Calculate and output the command value Pn. Then, step (6
In step 9), n is decremented by 1, and in step (70) it is determined whether n = 0. If n is not 0, the processing is continued as it is,
When n = 0, in step (71), step S +
The process is continued with 1 as the current step S. FIG. 5 illustrates the relationship between the command position and the number of calculations described above. Next, the robot 1 position data recording unit (B-6) will be described. Here, the position data of each axis of the robot 1 (1) and the axis of the clock corresponding thereto are recorded by the operation from the teaching controller (6) at each step in the structure of FIG. In the part a of FIG. 6, 0 or 1 is recorded, and the step recorded as 1 means the origin step, and the clock value and axis data of that step are handled as the origin clock and origin position. This data is read every time the robot 1 command position calculation unit (B-5) calculates the command position. Next, the robot 1 servo amplifier section (B-7) will be described. Here, the robot 1 command position calculation unit (B-
The command position data calculated in 5) is received, the servo amplifier is driven by this data, and each motor of the robot 1 is operated. The above is the robot 1 block (2
-B) Each processing content.

 This is the end of the explanation of the system block diagram of FIG.

Next, the operation will be described. Of the above-mentioned processes, FIG. 7 shows a summary of the start request and the stop request. That is, it is assumed that the two robots 1, 2 (1, 2) are at the origin and are set under the operating conditions shown in Table 1. t
When there is a start request at = 0, the system clock starts counting first. When the system clock 1 which is the upstream clock of the robot 1 matches the robot clock, the robot 1 is enabled (72) and the robot 1 clock starts counting. After that, when the robot 1 clock, which is the upstream clock of the robot 2, matches the robot 2 origin clock, the robot 2 is enabled (73),
Robot 2 clock starts counting. Then, for example, when a stop request is input at the clock value 3500 (7
4), Robot 1 is prohibited in the next cycle, Robot 1
When the clock matches the next robot 1 origin clock, robot 1 is disabled (75). As a result, the robot 2 is also prohibited in the next cycle, and when the robot 2 coincides with the next robot 2 origin clock, the robot 2
Is disabled (76) and turned off during startup (7
7). In this way, the two robots are enabled by the clock propagation from the upstream to the downstream, and each robot operates with the same clock, though they are separate clocks. Since they can operate in synchronization, accurate work can be performed. This is the end of the description of the embodiment of claim 1.

Next, in the industrial robot system according to the second embodiment of the present invention, as shown in FIG. 8 (a), the work (101) supplied from the conveyor (100) is supplied to three robots (1,2,103).
An example of the case where the sheet is conveyed to the conveyor (102) on the downstream side will be described.

In this system, the robot 1 (1) receives the work (101) supplied from the conveyor (100),
(1) hands over to the robot 2 (2), and the robot 2 (2) hands over to the robot 3 (103).
(103) is for delivering the work (101) to the downstream conveyor (102). The three robots (1,2,103) are each taught in correspondence with the position of a clock (not shown). Each robot operates as the clock increases, and is taught so that the work (101) can be delivered and transferred. It is assumed that Upstream conveyor (100)
From here, when the work (101) is sent, a work presence signal is sent, and a starting signal (handled as enable) is sent during starting. Each robot (1,
2,103), the operating conditions are set as shown in Table 2. In this system, the master is the robot 1
(1) This system is basically the same as the industrial robot system according to the first embodiment of the present invention, except that the robot 3 is added and is the same as the system block diagram in FIG. It is almost the same as the flow of FIG. Only the differences will be described below.

First, the clock monitoring routine of FIG. 9A (9 of FIG. 3A). The clock monitoring routine (9) is the ninth
It is executed according to the flow in Figure (a), and (13
2) Processing is executed. 9 (a) and (134) show a processing unit for enabling the robot 1. First, it is checked whether or not the robot 1 upstream clock (system clock) matches the robot 1 origin clock (133).
If they do not match, the process ends. That is, the robot 1 is not enabled. If they match, the robot 1 is unconditionally disabled (137). Next, it is checked whether the next cycle prohibition is OFF (139), and if it is ON, the process is ended without enabling. As a result, the robot 1 can be disabled at the origin when the next cycle is prohibited. Further, it is checked whether or not the robot 1 is disabled, and if disabled, the robot 1 is enabled (153) if the condition of the block (140) is met. In block (140), the condition is that the work is upstream and is enabled. The robot 1 is the most upstream device, but in this case, the work supply device is treated as the upstream of the robot 1. The processing of the block (134) in FIG. 9A is performed by the robot 2 (2),
The robot 3 (103) is similarly processed (15
4,155). As a result, when each device matches the upstream clock of each device and the origin clock of each device, it is possible to determine whether the device is enabled or not depending on whether there is a workpiece on the device itself or upstream, and enable each device from upstream to downstream. Devices can be synchronized. Subsequent processing is shown in FIG. 3 (c).
(C-8,159,160). Next, the operation routine of the robot 1 shown in FIG. 9B will be described. This corresponds to FIG. 3 (g). Here, it is first checked whether the robot 1 is enabled (161), and if it is enabled, the following processing is performed. When the robot 1 is enabled, the command position of the robot 1 is calculated from the current value of the robot 1 clock (162) and the command position is output to the robot 1 servo amplifier section (B-7) (16).
3). Next, as shown in FIGS. 9 (b) and (g-1), a process for turning on the suction of the work is performed. In (g-1), first, it is checked whether the clock of the robot 1 is a work adsorption ON clock (164), and if so, whether the upstream, which is the other party to receive the work, is enabled, or the upstream work passing method is It is checked whether it is 2 (166), and if the work is held, the work adsorption signal of the robot 1 is turned on (168), and at the same time, the robot work existence is turned on (169).

Next, in FIG. 9 (b) and (g-3), processing is performed for turning off the workpiece suction of the robot 1. Here, it is checked whether the clock of the robot 1 is a work adsorption OFF clock of the robot 1 (174), and if so, the downstream to which the work is delivered is enabled, or the work delivery method of the robot is 0. Check if (17
6) And if there is no work, turn off the adsorption signal of robot 1 (178) and turn off the work of robot 1 at the same time.
Yes (179). The above is the robot 1 operation routine of the robot 1 controller.

The above is the difference from the first embodiment of the present invention. By executing the above-described processing, each robot can be operated in synchronization, and the robot to be enabled can be accurately determined depending on the presence or absence of the work of each robot. Further, even when the work is delivered by the two robots, the work can be delivered smoothly because the relative speed can be set to 0 because it operates in synchronization with the clock. An operation locus diagram of the industrial robot system of this embodiment is shown in FIG.

〔The invention's effect〕

As described above, according to the present invention, a plurality of robots operate with the same clock, and automatically operate in synchronization without interlocking with each other. Therefore, it is not necessary to take a mutual interlock between a plurality of robots as in the conventional case, and naturally there is no longer a waiting state depending on the state of the opponent. If this waiting state is eliminated, waste of time and energy as in the past can be minimized, and rapid acceleration / deceleration such as stop → start, start → stop can be reduced, resulting in a mechanical life. Will be extended. As a result, the system can be operated more efficiently.

[Brief description of drawings]

FIG. 1 is a schematic front view showing the configuration of an industrial robot system according to an embodiment of the first invention of the present invention, and FIG. 2 is the first embodiment of the present invention.
FIG. 3 (a) is a flowchart of the system control unit shown in FIG. 2, and FIG. 3 (b) is a system clock shown in FIG. The counting section flowchart, FIG. 3 (c) is the clock monitoring routine shown in FIG. 3 (a), FIG. 3 (d) is the stop check routine shown in FIG. 3 (a), and FIG. The abnormality check routine shown in FIG. 3 (a), FIG. 3 (f) is a command value calculation routine, FIG. 3 (g) is the robot 1 operation routine, and FIG. 3 (h) is the processing of the robot 1 clock counting unit. 3 is a flowchart showing each of the above. FIG. 4 is a schematic diagram of a valid / invalid circuit, and FIG.
FIG. 6 is a diagram showing a command position calculation diagram, and FIG. 6 is a graph showing the structure of the recording unit for recording the clock value of the robot 1 position data recording unit shown in FIG. 2 and the corresponding axis data values for each step, FIG. 7 is a time chart showing a cycle diagram at the time of system start request and stop request of the system shown in FIG. 1, and FIG. 8 (a) is an embodiment industrial robot system shown in (2) of the present invention. FIG. 8B is a schematic front view showing the configuration, and FIG. 8B is an operation locus diagram of the industrial robot system of FIG. 8A. FIG. 9 (a) is a flowchart showing the clock monitoring routine of the second invention of the present invention, and FIG. 9 (b) is a flowchart showing the operation routine of the robot 1 of FIG. 8 (a). 1 …… Robot 1, 2 …… Robot 2 3,101 …… Workpiece 4 …… Grinder 5 …… Industrial robot system control unit 6 …… Teaching controller 103 …… Robot 3

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Reference number within the agency FI Technical indication location G05B 19/42 G05B 19/42 V 19/403 T (72) Inventor Kiyoshi Kanie Ishiyama, Toyama City, Toyama Prefecture 20 Kin Kin Fujiuchi Co., Ltd. (56) Reference JP-A-63-207578 (JP, A)

Claims (7)

[Claims] 1. A method for controlling an industrial robot system, comprising a plurality of robots arranged to cooperate with each other to perform one operation and having the following steps. a) Add a fixed increment value every fixed basic time,
The system clock and the clock for each robot are set so that the predetermined saturation value is reached at the system cycle time and the addition is started again from zero. B) At the standby position until the robot starts the operation. A certain origin is set, and each position during operation of the robot is set corresponding to the clock value of this robot, and c) the system clock is added to the increment value determined for each basic time at system startup. When the robots are enabled, the clocks of the robots are added by the same increment value as the system clock to proceed. 2. A method according to claim 1, wherein the industrial robot system control method further comprises the following steps. d) In order to calculate the position that each robot should reach for each basic time during regenerative operation 1) Obtain the difference between the clock value of the current step and the clock value of the next step, and 2) calculate the difference. 3) Calculate the number of calculation times of the increment value of the clock, 3) Calculate the incremental value of the position by dividing the difference between the target position to be reached and the current position by the number of calculation times, 4) Current position Then, add this increment value to to obtain the first interrogation point, and 5) decrement the number of calculation times by 1 and if that value is not 0, 3)
The position is interrogated sequentially by repeatedly obtaining the n-th interrogation point, the position synchronized with the clock is calculated, and the position is output to each robot for operation. 3. The industrial robot system control method according to claim 1, further comprising the following steps. e) If it can be judged that continuing to the origin does not cause mutual interference and does not inadvertently discharge the work even if there is a stop instruction during the system's regeneration operation, except for the emergency stop, and after that step A safe one step (hereinafter referred to as "Anichi") range is set for each robot as a range to continue the operation up to the origin step, and f) When an error occurs, a predetermined safe stop is performed on the robot that has an error. In order to avoid mutual interference between the robots, a stop signal is transmitted to the other robots adjacent to it, and it is determined whether the other robots are in the safe range and either stop or continue operation to the origin. If it is a stop, the stop is transmitted to another adjacent robot to prevent interference. 4. The industrial robot system control method according to claim 1, further comprising the following steps. g) Effective to control power supply to each robot /
The invalid signal is recognized, and at the time of teaching, only the robot performing the teaching is set to be valid and power is supplied only to the robot. 5. The industrial robot system control method according to claim 1, further comprising the following steps. h) In order to manage information related to the work, 1) One robot sets the work transfer partner number that indicates which of the other robots will transfer the work, and 2) One robot will transfer the work by releasing it. Set the transfer method number that defines one of the robot's take, 3) Obtain the work status data indicating whether or not the work has been processed, and perform the next processing related to the work status and work at any time. And j) During start-up, when the other robot that is the partner holds the work, the robot is enabled and operation starts when the system clock reaches the origin clock value of each robot. By doing so, the system clock is synchronized with the clock of each robot. 6. An industrial robot system having: A plurality of at least one-axis robots arranged so as to cooperate with each other to perform one operation; one teaching controller that moves the robots for teaching to instruct position recording; one unit A robot controller, the robot controller including: a) adding a predetermined increment value at fixed basic time intervals;
A system clock and a clock for each robot, which is set to reach a predetermined saturation value at the system cycle time and to start addition from zero again, b) In each said robot, the value of the clock and the robot's Positions and corresponding program recording means, c) A clock is set by setting an origin, which is a standby position until the operation starts for each robot, and selecting an arbitrary step of the program as the origin. Corresponding means for registering the origin, d) When the system is started, the system clock is advanced by incrementing the increment value determined for each basic time, and when each robot is enabled, the clock of the robot is the same as the system clock. Means for incrementing and advancing, e) Even if there is a stop instruction during the system's regeneration operation, If it can be judged that continuing the work does not cause mutual interference and the work is not discharged carelessly, the safe one process (hereinafter referred to as the safety (Abbreviated)) means for setting the range for each robot, f) when an abnormality occurs, cause the robot that has caused an abnormality to perform a predetermined safe stop, and stop signals to other adjacent robots to avoid mutual interference between robots At the same time, the robot determines whether this other robot is in the safe range and decides whether to stop and continue the operation to the origin. Means for preventing abnormal propagation, g) controlling the supply of power to each of the robots,
A means that has a valid / invalid signal and that sets only the robot that performs teaching during teaching, and that supplies power only to that robot, and h) the position that each robot should reach at each basic time during playback operation. 1) obtaining the difference between the clock value of the current step and the clock value of the next step, and 2) the number of times the difference is the increment value of the clock. 3) Divide the difference between the target position to be reached and the current position by the number of calculation times to obtain the incremental value of the position. 4) Add this incremental value to the current position and make the first interrogation point. Then, 5) decrement the number of calculation times by 1 and if the value is not 0, 3)
Means for sequentially interrogating the position by repeatedly obtaining the n-th interrogation point, calculating the position synchronized with the clock, and outputting the position to each robot for operation. 7. An industrial robot system comprising the system according to claim 6, further comprising: i) A means for managing information related to a work, 1) a work transfer partner number indicating whether one robot transfers the work to another robot is set, and 2) one robot releases the work. A transfer method number is defined that defines one of the following: whether the workpiece is handed over or the other robot takes it. 3) Has work status data that indicates whether the work has been processed. Management means that can determine the next process, and j) When the robot is starting up and the other robot is holding the work, the robot is started when the system clock reaches the origin clock value of each robot. A means of synchronizing the system clock with the clocks of each robot by enabling them to start operation.